Bump 1.4.1

[robotpilot]

No description provided.

[gemini-code-assist]

Hello @robotpilot, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request bumps the version of the dynamixel_hardware_interface package to 1.4.1. It includes modifications to the model file, specifically adding new Dynamixel models and updating existing ones. Additionally, the error_timeout_sec parameter in the README has been updated to error_timeout_ms to reflect that the timeout is now in milliseconds.

Highlights

• Version Bump: The package version has been bumped from 1.4.0 to 1.4.1.
• Model File Modification: New Dynamixel models (ph42_020_s300.model and ym080_230_b001.model) have been added to dynamixel.model, and the radian positions for ym070_210_r099.model and ym080_230_r099.model have been updated.
• README Update: The error_timeout_sec parameter in the README has been changed to error_timeout_ms.

Changelog

Click here to see the changelog

• CHANGELOG.rst
  • Added a changelog entry for version 1.4.1, noting the model file modification and contributors.
• README.md
  • Updated the error_timeout_sec parameter to error_timeout_ms to indicate milliseconds.
• package.xml
  • Updated the package version to 1.4.1.
• param/dxl_model/dynamixel.model
  • Added ph42_020_s300.model with ID 2000 and ym080_230_b001.model with ID 4130 to the list of available Dynamixel models.
• param/dxl_model/ph42_020_s300.model
  • Added a new model file for the ph42_020_s300 Dynamixel motor, defining its type information and control table.
• param/dxl_model/xh430_v210.model
  • No functional change, just ensuring the file ends with a newline character.
• param/dxl_model/ym070_210_r099.model
  • Updated value_of_zero_radian_position, value_of_max_radian_position, and value_of_min_radian_position.
• param/dxl_model/ym080_230_b001.model
  • Added a new model file for the ym080_230_b001 Dynamixel motor, defining its type information and control table.
• param/dxl_model/ym080_230_r099.model
  • Updated value_of_zero_radian_position, value_of_max_radian_position, and value_of_min_radian_position.

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---

A new model's defined,
Control tables aligned,
Motors hum with grace,
In their designated space,
Precision now refined.

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[gemini-code-assist]

Code Review

The pull request bumps the version to 1.4.1, updates the changelog, modifies the README, and updates/adds dynamixel model files. The changes seem straightforward and necessary for the new release. However, some minor issues need attention.

Summary of Findings

• Inconsistent Timeout Unit: The README.md file was updated to reflect the timeout unit as milliseconds (error_timeout_ms), which is good. However, it's crucial to ensure that the code and any related configurations also use milliseconds consistently. Verify that the hardware interface code correctly interprets and uses this value.
• Model File Changes: The dynamixel.model file and the new ph42_020_s300.model and modified ym070_210_r099.model and ym080_230_b001.model files were added/modified. It's important to ensure that these model files are accurate and complete, and that they are properly integrated into the hardware interface.

Merge Readiness

The pull request is almost ready for merging. The identified issues are of medium severity and should be addressed before merging to ensure consistency and correctness. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging. After addressing the comments, the pull request should be good to go.

[gemini-code-assist]

It's great that the timeout unit is explicitly specified as milliseconds. However, ensure that the actual code and configuration files are also updated to use milliseconds to avoid any confusion or errors. Can you confirm that the hardware interface code correctly interprets and uses this value?

[gemini-code-assist]

The values for value_of_zero_radian_position, value_of_max_radian_position, and value_of_min_radian_position have been changed. Ensure that these new values are correct and align with the motor's specifications. What was the reason for this change, and how was it validated?